WO2022217961A1

WO2022217961A1 - Anti-collision unmanned aerial vehicle detection apparatus

Info

Publication number: WO2022217961A1
Application number: PCT/CN2021/139586
Authority: WO
Inventors: 蒋毅; 谭潇; 李睿航; 熊梦雅; 姚志东; 庄浩然; 曹文昭
Original assignee: 中冶建筑研究总院（深圳）有限公司
Priority date: 2021-04-15
Filing date: 2021-12-20
Publication date: 2022-10-20
Also published as: CN112937890A

Abstract

An anti-collision unmanned aerial vehicle detection apparatus, comprising a multi-rotor unmanned aerial vehicle (1), an anti-collision net rack (2) and a gimbal (3), wherein the multi-rotor unmanned aerial vehicle (1) is connected to the gimbal (3), the anti-collision net rack (2) is connected to the gimbal (3), and the multi-rotor unmanned aerial vehicle (1) is located inside the anti-collision net rack (2).

Description

Anti-collision UAV detection device

This application claims the priority of the Chinese patent application with application number 202110405115.9 filed with the China Patent Office on April 15, 2021, the entire contents of the above application are incorporated into this application by reference.

technical field

The present application relates to the technical field of drone detection, for example, to an anti-collision type drone detection device.

Background technique

As the outer retaining wall of the building, the curtain wall needs to be tested for potential risks such as breakage, cracks and voids, as well as potential risks such as falling off, damage and loosening of the curtain wall structural adhesive, which may cause the curtain wall to fall, referred to as curtain wall detection. Curtain wall inspection requires the help of inspection equipment, generally hand-held inspection equipment is used, or the inspection equipment is mounted on auxiliary equipment. With the rapid development of drones and robotics, the inspection equipment is usually mounted on drones or wall-climbing robots. .

The drones used in related technologies are all multi-rotor type, with quad-rotor and hexa-rotor being the most common, but for curtain wall detection, it is difficult to achieve ultra-close flight, and it is easy to fly at a short distance (for example, less than one meter). Collision and crash; another type of carrying platform is a wall-climbing robot, which can be attached to the surface of the curtain wall for contact measurement and ultra-close-up photography, but its moving speed is slow and its ability to overcome obstacles is limited, resulting in low work efficiency.

SUMMARY OF THE INVENTION

The embodiment of the present application discloses an anti-collision type unmanned aerial vehicle detection device, comprising a multi-rotor unmanned aerial vehicle, an anti-collision grid and a gimbal bracket, the multi-rotor unmanned aerial vehicle is connected to the gimbal bracket, and the The anti-collision grid is connected to the universal bracket, and the multi-rotor drone is located inside the anti-collision grid.

Description of drawings

1 is a schematic structural diagram of an anti-collision type unmanned aerial vehicle detection device provided by a specific embodiment of the present application;

2 is a schematic structural diagram of an anti-collision grid provided by a specific embodiment of the present application;

FIG. 3 is a schematic structural diagram of a multi-rotor unmanned aerial vehicle connected to a universal support provided by a specific embodiment of the present application.

Reference number:

1-Multi-rotor UAV, 11-rotor, 12-machine body, 2-anti-collision grid, 3-universal support, 31-first rod, 32-ring support, 4-second rod, 5 - Binocular camera.

Detailed ways

The technical solutions of the present application will be described below with reference to the accompanying drawings and through specific embodiments.

The specific structure of the anti-collision type unmanned aerial vehicle detection device according to the embodiment of the present application will be described below with reference to FIG. 1 to FIG. 3 .

As shown in Figures 1 and 2, the present embodiment provides an anti-collision drone detection device, including a multi-rotor drone 1, an anti-collision grid 2 and a universal bracket 3, and the multi-rotor drone 1 is connected to On the universal bracket 3 , the anti-collision grid 2 is connected to the universal bracket 3 , and the multi-rotor UAV 1 is located inside the anti-collision grid 2 .

For example, the multi-rotor UAV 1 is set inside the anti-collision grid 2 through the universal bracket 3, that is, the multi-rotor UAV 1 of FIG. 3 is placed in the anti-collision grid 2 described in FIG. When the rotor drone 1 detects the curtain wall and is at a relatively close distance to the curtain wall, the anti-collision grid 2 can effectively protect the multi-rotor drone 1, avoiding the collision and falling of the drone, and at the same time, the multi-rotor drone 1 can freely Therefore, the anti-collision UAV detection device of this embodiment not only solves the defect of not being able to detect the curtain wall at close range, but also realizes the state of the curtain wall at close range, such as whether the curtain wall is damaged. , cracks and voids, and whether the curtain wall structural adhesive is off, damaged or loose; in addition, it has the advantages of flexible action, can cross obstacles, high detection efficiency, and multi-rotor UAV 1 no longer needs to have built-in obstacle avoidance systems, such as visual avoidance obstacle avoidance and ultrasonic obstacle avoidance, which greatly reduces the cost. In summary, the anti-collision UAV detection device has the advantages of good anti-collision and anti-fall ability, can fly close to the surface of the object, collect relevant data at close range, high work efficiency, low cost and wide applicability.

In one embodiment, as shown in FIGS. 1 and 3 , the multi-rotor UAV 1 further includes a binocular camera 5 , and the binocular camera 5 is configured to take optical and thermal infrared photos of the object to be inspected. It can be understood that, since the binocular camera 5 can take optical and thermal infrared photos of the curtain wall of the object to be detected, the multi-rotor UAV 1 can observe the detailed information of the curtain wall when taking a close-up photo of the curtain wall, such as the damage and crack of the curtain wall. The damage conditions such as and empty drums, as well as the aging, deterioration and failure of structural adhesives, and then the shooting information is transmitted to the flight control processor through the sensor.

For example, the binocular camera 5 is located at the top of the multi-rotor drone 1 near the edge, and the direction of the camera of the binocular camera 5 is directly in front of the movement of the multi-rotor drone 1 .

In one embodiment, the multi-rotor UAV 1 further includes a power source, a flight control processor and a sensor, the power source is electrically connected to the flight control processor and the sensor, respectively, and the sensor is configured to detect whether the multi-rotor UAV 1 is in balance, and The information is transmitted to the flight control processor to control the movement direction of the multi-rotor UAV 1 .

It can be understood that when the power supply of the multi-rotor UAV 1 is connected, the sensor detects that the multi-rotor UAV 1 is in a balanced state, and transmits the information describing the balanced state of the multi-rotor UAV 1 to the aircraft control processing. In the device, the aircraft control processor can control the operation of the multi-rotor UAV 1 to ascend, descend, advance, retreat, go left, go right or rotate, which has the advantage of flexible action. In addition, since the anti-collision grid 2 is also provided, the multi-rotor UAV 1 can fly close to or even close to the curtain wall, and collect required data through sensors.

In one embodiment, the flight control processor may be a type of miniature airborne computer, which calculates data collected by various sensors in real time, and then issues corresponding commands to adjust the actions of the UAV.

For example, when the accelerometer of the drone detects that the drone has accelerated abnormally, the flight control processor will issue a correction command to the drone to reduce the acceleration of the drone after calculation.

In one embodiment, the sensors include, but are not limited to, gyroscopes, accelerometers, geomagnetic sensors, GPS, and the like.

In one embodiment, as shown in Figures 1 and 2, the anti-collision grid 2 is a football olefin structure with sixty vertices, thirty-two faces, twelve regular pentagons and twenty regular hexagons. .

For example, the football olefin structure is a carbon 60 molecular structure, which is similar to a hollow spherical shape, and the anti-collision grid 2 is set to a carbon 60 molecular structure, which has excellent stability. When the anti-collision grid 2 collides, the anti-collision grid 2 can effectively disperse the impact force and avoid stress concentration, which not only improves the service life of the anti-collision grid 2 itself, but also more importantly protects the multi-rotor Drone 1 is immune to damage. In addition, the anti-collision grid 2 includes a plurality of regular pentagons and a plurality of regular hexagons, and the openings enclosed by the regular pentagons and the regular hexagons are larger, and the field of view of the binocular camera 5 is less blocked, which is also convenient for Replacement of power supply.

In one embodiment, as shown in FIGS. 1 and 3 , the universal support 3 includes a first rod 31 and an annular support 32 , the first rod 31 is fixedly connected to the multi-rotor unmanned aerial vehicle 1 , and the annular support 32 is rotatably connected. on the first rod 31 .

For example, the universal bracket 3 is composed of a first rod 31 and an annular bracket 32 . Since the annular bracket 32 is rotatably connected to the first rod 31 , the annular bracket 32 can rotate 360° around the first rod 31 . At the same time, the connection node between the annular support 32 and the anti-collision grid 2 is also a node that can rotate 360 degrees. Therefore, the connection node between the first rod 31 and the annular bracket 32 is rotatable, and the connection node between the annular bracket 32 and the anti-collision grid 2 is also rotatable. The two rotatable nodes ensure that the drone is flying when the drone is flying. , the anti-collision grid 2 can rotate freely.

In one embodiment, the first rod 31 is directly connected to the main body 12 of the drone, and the drone basically maintains an up and down posture during operation, which means that the first rod 31 basically does not occur. Rotate, but the ring bracket 32 connecting the first rod 31 is rotatable and can be rotated 360 degrees.

Since the first rod member 31 is substantially on a horizontal plane and does not rotate, the annular support 32 can rotate 360 around the first rod member 31 .

In one embodiment, the first rod 31 is fixedly connected to the multi-rotor drone 1, and the first rod 31 cannot rotate around the drone.

For example, the first rod 31 is made of carbon fiber material, and the annular bracket 32 is also made of carbon fiber material, which has a high degree of light weight, that is, light weight and high strength.

In one embodiment, as shown in FIGS. 1 and 3 , the multi-rotor UAV 1 includes a plurality of rotors 11 and a main body 12 , the plurality of rotors 11 are connected under the main body 12 , and the plurality of rotors 11 are evenly spaced. Distribution settings. It should be noted that the plurality of rotors 11 are distributed under the main body 12 at uniform intervals, which is beneficial to force balance and has excellent smooth performance.

In one embodiment, as shown in FIGS. 1 and 3 , the rotor 11 is connected to the main body 12 through the second rod 4 , and the second rod 4 is provided with an accommodating cavity for placing electric wires. It can be understood that the rotor 11 is connected to the main body 12 of the multi-rotor UAV 1 through the second rod member 4, which improves the connection strength, and the second rod member 4 is convenient for placing the wires required for energization.

In one embodiment, the anti-collision mesh frame 2 is a carbon fiber mesh frame. Therefore, the anti-collision grid 2 has the advantages of high strength, light weight, and a high degree of light weight. In other embodiments of the present application, the anti-collision grid 2 is not limited to the above, and other options can be made, which are not specifically limited here.

In one embodiment, the center of gravity of the multi-rotor unmanned aerial vehicle 1 and the center of the sphere of the anti-collision grid 2 are set to coincide. Therefore, the free movement of the peripheral anti-collision grid 2 is favorable, and the stability and reliability are good.

In one embodiment, the multi-rotor UAV 1 is a quad-rotor UAV. The multi-rotor UAV 1 in the embodiment of the present application mostly adopts a quad-rotor UAV, which has a good flying effect and is easy to be placed in the anti-collision grid 2 to avoid collision with the inner wall of the anti-collision grid 2, and can It is suitable for the anti-collision grid 2 with smaller volume, and has better flexibility. In other embodiments of the present application, the multi-rotor UAV 1 may adopt other number of rotor UAVs according to actual needs, such as hexa-rotor UAVs, etc., which are not specifically limited here.

The characteristics of the embodiment of the present application relative to the related art: the multi-rotor UAV is set inside the anti-collision grid through the gimbal bracket. When the multi-rotor UAV detects the curtain wall and is at a relatively close distance, the anti-collision net can effectively The ground protection multi-rotor UAV can effectively avoid the damage caused by the collision and falling of the UAV. At the same time, the multi-rotor UAV can move freely without the need to move against the curtain wall like a climbing robot. Therefore, multiple implementations of this application The anti-collision UAV detection device of this example not only solves the defect that the curtain wall cannot be detected at a close distance, but also realizes the status of the curtain wall at a close distance, such as whether the curtain wall is damaged, cracks and voids, and whether the curtain wall structural adhesive is detached, damaged or loose, etc.; In addition, it also has the advantages of flexible action, which can overcome obstacles and higher detection efficiency compared with traditional wall-climbing robots. In summary, the anti-collision UAV detection device has the advantages of good anti-collision and anti-fall capability, high work efficiency and wide applicability.

In addition, the anti-collision type UAV detection device of the present application can be used not only for curtain wall detection, but also for bridge detection, subway tunnel inspection, and underground comprehensive pipe gallery inspection.

In the description of this specification, description with reference to the terms "some embodiments," "other embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present application or in the example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In addition, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. are based on the orientation or positional relationship shown in the accompanying drawings , is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

In this application, unless otherwise expressly specified and limited, terms such as "connected", "connected", "installed" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the above-mentioned specific meanings in the present application can be understood according to specific situations.

In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features, which are used to distinguish and describe the features, regardless of order or importance. In the description of this application, unless stated otherwise, "plurality" means two or more.

For those of ordinary skill in the art, according to the concept of the present invention, there will be changes in the specific embodiments and application scope, and the content of this specification should not be construed as a limitation to the present application.

Claims

An anti-collision type unmanned aerial vehicle detection device, comprising a multi-rotor unmanned aerial vehicle (1), an anti-collision grid (2) and a universal support (3), the multi-rotor unmanned aerial vehicle (1) is connected to the On the universal bracket (3), the anti-collision grid (2) is connected to the universal bracket (3), and the multi-rotor UAV (1) is located on the anti-collision grid (2) internal.
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the anti-collision grid (2) is in the form of a football olefin structure, with sixty vertices, thirty-two faces, and twelve regular pentagons shape and twenty regular hexagons.
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the universal support (3) comprises a first rod (31) and an annular support (32), the first rod (31) It is directly connected to the multi-rotor unmanned aerial vehicle (1), the first rod (31) and the body (12) of the multi-rotor unmanned aerial vehicle (1) form an integral body, and the annular bracket ( 32) is rotatably connected to the first rod (31).
The anti-collision type unmanned aerial vehicle detection device according to claim 1 or 3, wherein the multi-rotor unmanned aerial vehicle (1) comprises a plurality of rotors (11) and a main body (12), and a plurality of the rotors ( 11) The rotors (11) are respectively arranged below the machine body (12), and a plurality of the rotors (11) are arranged at even intervals.
The anti-collision type unmanned aerial vehicle detection device according to claim 4, wherein each rotor (11) of the plurality of rotors (11) is connected to the machine body (12) through a second rod (4) Above, the second rod (4) is provided with a accommodating cavity for placing electric wires.
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the anti-collision mesh frame (2) is a carbon fiber mesh frame.
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the center of gravity of the multi-rotor unmanned aerial vehicle (1) and the spherical center of the anti-collision grid (2) are arranged to coincide.
The anti-collision type unmanned aerial vehicle detection device according to claim 4, wherein the multi-rotor unmanned aerial vehicle (1) further comprises a binocular camera (5), and the binocular camera (5) is set to take pictures to be detected Optical and thermal infrared photographs of the piece.
The anti-collision type unmanned aerial vehicle detection device according to claim 4, wherein the multi-rotor unmanned aerial vehicle (1) further comprises a power supply, a flight control processor and a sensor, the power supply is respectively connected with the flight control processor is electrically connected to the sensor, the sensor is configured to detect whether the multi-rotor unmanned aerial vehicle (1) is in balance, and transmit the detected information to the flight control processor, thereby controlling the multi-rotor unmanned aerial vehicle Movement of the machine (1).
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the multi-rotor unmanned aerial vehicle (1) is a quad-rotor unmanned aerial vehicle.
The anti-collision type drone detection device according to claim 1, wherein the multi-rotor drone (1) comprises a binocular camera (5), and the binocular camera (5) is configured to photograph the object to be detected optical and thermal infrared photos.
The anti-collision type unmanned aerial vehicle detection device according to claim 1, wherein the multi-rotor unmanned aerial vehicle (1) comprises a power source, a flight control processor and a sensor, and the power source is respectively connected with the flight control processor and the flight control processor and the sensor. The sensor is electrically connected, and the sensor is configured to detect whether the multi-rotor UAV (1) is in balance, and transmit the detected information to the flight control processor, thereby controlling the multi-rotor UAV (1) Movement.